I get my kids into their beds the same way, cause like you if there isn't a real need to let them cry I don't, not over bed time, but there are steps you can do to bring the time down, and then where you will no longer need to be in the room with them. I hope I explain this well.
I used to lay down with them also, but found like you that that doesn't work. I sit on the edge of the bed or floor or a chair, depends on you level of comfort. As soon as she tries to get up and jump or play firmly say "lay down". This will take quite a few tries, but make sure there isn't any other interaction, once the bed time routine is over, it is over. Usually this takes a couple of days, but every kids is different and I have had this part take a week, you should also notice that the amount of time you have to tell her to lay down will lesson, once she has it down better move further out of the room, this is why I like to use a chair, within a couple of weeks, they are really good about it, yes they will still come out on occasion, so you walk them right back, all things that are normal, but I look at helping are kids sleep as a job, it takes us and them a long time to build habit and it takes a long time to adjust them as they grow.
Good luck, follow your heart, if it says leaving her to cry isn't for you then don't feel pressured to do it, and vice versa!